JP3522348B2 - Automatic tip angle control device - Google Patents

Automatic tip angle control device

Info

Publication number
JP3522348B2
JP3522348B2 JP21966094A JP21966094A JP3522348B2 JP 3522348 B2 JP3522348 B2 JP 3522348B2 JP 21966094 A JP21966094 A JP 21966094A JP 21966094 A JP21966094 A JP 21966094A JP 3522348 B2 JP3522348 B2 JP 3522348B2
Authority
JP
Japan
Prior art keywords
tilt
position
tool
automatic
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP21966094A
Other languages
Japanese (ja)
Other versions
JPH07166575A (en
Inventor
ジェイ リューシヨウ ケヴィン
エル ストラットン ケニス
シー バートン ジェイムス
ジー ヘイズ トーマス
Original Assignee
キャタピラー インコーポレイテッド
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to US08/125439 priority Critical
Priority to US08/125,439 priority patent/US5462125A/en
Application filed by キャタピラー インコーポレイテッド filed Critical キャタピラー インコーポレイテッド
Publication of JPH07166575A publication Critical patent/JPH07166575A/en
Application granted granted Critical
Publication of JP3522348B2 publication Critical patent/JP3522348B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80Component parts
    • E02F3/84Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/845Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an off-highway vehicle equipped with a tool for moving sediment. More specifically, the present invention relates to an apparatus and method for automatically moving a vehicle implement to one of a plurality of preset blade angular positions.

[0002]

BACKGROUND OF THE INVENTION Off-highway vehicles, such as wheel loaders, bulldozers and truck loaders, are equipped with buckets, or tools for moving soil. Here, the drawbacks of such vehicles are mentioned for bulldozers. However, all off-highway vehicles similar to bulldozers have similar drawbacks. Generally, a driver must move a sediment moving tool to a predetermined angle while performing a specific work (in the case of a bulldozer, the sediment moving tool is a blade). For example, in a typical bulldozer operation, the bulldozer is operated in three modes. These modes are load mode, spread mode and transport mode. In load mode, the driver digs or smooths the soil to loosen the soil, in transport mode pushes loose soil to transport it elsewhere, and in spread mode soil Dump or sprinkle on the second position. Blade angle (i.e., blade angle with respect to the ground) has a significant impact on bulldozer performance. Each mode has a different optimum blade angle.

In a bulldozer, each mode is generally repeated continuously. The driver starts the work by running the load mode for a short time until sufficient soil is sown from the work area. Next, the driver carries out and spreads the soil. The driver repeats this sequence. In order to operate the bulldozer most effectively, the driver has to change the blade angle each time the mode is changed. The blade control of the conventional bulldozer is equipped with tilt control, which allows the driver to change the blade angle and lift control to change the height of the blade. These controls require the driver to manually adjust the blade angle to the optimum angle when switching to the new mode. In this method, changing the blade angle requires concentration and manual dexterity. This will fatigue the driver and reduce overall productivity.

[0004]

It is preferable to have a blade adjusting characteristic that can automatically move the blade to an optimum angle for a given mode. The present invention is
Solve one or more of these problems.

[0005]

In one aspect of a more preferred embodiment of the present invention, an off-highway vehicle having a tilt function corresponding to a tool is provided with an automatic tilt system. This tilt system includes a tilt cylinder and a corresponding position sensor having a position signal output. Also included is processor means adapted to receive the position signal and calculate a command signal corresponding to the difference between the position signal and the desired blade angular position. The foregoing and other aspects of the present invention will become apparent upon reading the detailed description of the invention with reference to the drawings and claims.

[0006]

The following detailed description of the invention describes one application of the preferred embodiment, namely the use of a bulldozer. However, the invention is not limited to the use of bulldozers. Not only that, the present invention includes applications in preferred implementations of other off-highway vehicles with equipment. The following detailed description can similarly apply the present invention to other vehicles such as a wheel loader and a truck loader. FIG. 1 shows a lift cylinder 10.
And the general relationship between the tilt cylinder 15 and the blade 20 for the bulldozer 25. In reality, there are two lift cylinders 10 and two tilt cylinders 15, one on each side of the bulldozer. However, in the drawings, only one each is shown. The blade angle 30 is an angle formed between a surface that is substantially in contact with the ground surface 35 and a surface formed by the bottom surface 40 of the blade 20. Blade angle 30 is a function of a particular geometric relationship between the various components of bulldozer 25. The position of the tilt cylinder 15, as shown in FIG. 1, partially determines the blade angle 30. Tilt cylinder 1 to change the position of the blade
The use of 5 and lift cylinder 10 is known and will not be described further.

FIG. 2 shows a block diagram of the control components of the automatic tilt control system according to the invention. As can be seen, the driver controls the blade by using the handle 60. A three position switch 65 is included on the steering wheel to allow the driver to select one of three operating modes: load, transfer or unfold. The three-position switch 65 sends a mode selection signal, which is an input, to the electronic control 68 via the joints 71 and 72. The driver uses a three position switch to automatically move the position of the blade angle to a predetermined angle corresponding to a particular mode. Generally, the driver pulls on the trigger 50 located on the steering wheel 60 to move the steering wheel to one of a plurality of left positions from the neutral position, or to one of a plurality of right positions from the neutral position. The blade angle 30 can be adjusted by moving. The blade angle 30 is reduced by the driver pulling the trigger 50 and moving the handle 60 to the left position. The driver pulls the trigger 50 and pulls the steering wheel 60.
Moving the blade to the right increases the blade angle 30. When no force is applied to the handle 60, the handle 60 remains stopped in a neutral position intermediate between the left stop position and the right stop position. In the preferred embodiment, the blade angle is increased or decreased by combining the movement of the trigger 50 with the movement of the steering wheel 60, but other controls are known to allow the driver to easily and easily make such a switch. There is. The present invention is not limited to a set of controls and includes all controls within the spirit and scope of the present invention as defined by the claims.

The position sensor 61 is arranged at the base of the handle 60 and emits a forward signal 63 and a reverse signal 64 which are proportional to the difference between the actual position of the handle and the position when the handle is stationary. The forward drive signal 63 and the reverse drive signal 64 are inputs to the electronic control 68, and the solenoid drive signals 66 and 67 are transmitted to output the constant ratio pilot valve 7.
Drive 0. The pilot valve 70 controls the flow of hydraulic fluid from the high pressure pilot supply 55 to the tilt actuator valve 75 via conduits 56, 57.
This controls the position of the tilt actuator valve 75. Tilt actuator valve 7
5 controls the amount and direction of the high pressure fluid from the main supply unit 74 to the tilt cylinder 15. In this way, the electronic control 68 controls the flow rate of fluid to the tilt cylinder 15. Therefore, the driver can control the blade angle 30 by operating the steering wheel 60. The geometrical relationship between the components of the bulldozer 12 is stored in the memory 69 of the electronic control unit 68. In the preferred embodiment, the memory 69 is contained within the electronic control 68, although it is known to provide a separate memory device. Next, the lift cylinder 10 and the tilt cylinder 1
When the position of 5 is determined, the electronic control unit 68 can calculate the blade angle 30 from the stored geometrical relationship.

There are many known devices that can calculate the absolute position of a cylinder. For example, an absolute position sensor such as a radio frequency sensor (RF sensor) or an LVDT sensor can be used. These are all known.
However, these devices are expensive and add to the overall cost of the vehicle. Conversely, as described below, in the preferred embodiment of the present invention, the electronic control 68 approximates the positions of the lift cylinder 10 and the tilt cylinder 15 by measuring the amount of hydraulic fluid flowing into a particular cylinder. . This detection system
A relative position of the tilt cylinder is formed with respect to the previously formed position. Therefore, when using this system, it is necessary to first create a known position, then flow into the cylinder and calculate successive positions by the amount of fluid drained from the cylinder. In the preferred embodiment of the invention, the tilt cylinder 15 is zeroed by issuing a retract command and the cylinder is fully retracted against a mechanical stop (not shown). The electronic control 68 issues a command to the pilot valve 70 to cause the tilt actuator valve 75 to cause the fluid from the main supply 74 to flow to the tilt cylinder 15 and retract the cylinder 15 for mechanical stop. . Next, the electronic control unit 68 stores the data corresponding to the zeroed position in the memory. Successive positions are then calculated by determining the flow of hydraulic fluid into the cylinder. The amount of fluid flowing into the tilt cylinder can be calculated by integrating the flow rate flowing into the cylinder over time. Therefore, the electronic control unit 68
From equation 1, the tilt-cylinder-position can always be calculated.

## EQU1 ## Tilt-Cylinder-Position = Initial-Position + K∫ 0 t Flow Rate dt where K = 1 / Cylinder cross-sectional area t = Time to integrate hydraulic cylinder. The flow rate into cylinder 15 in equation 1 can be calculated by placing the flow meter 8 on the conduit to the tilt cylinder 15. However, in the hydraulic system,
With one command, it is also possible to estimate the flow rate as a function of engine speed. In the preferred embodiment of the present invention, the electronic controller 68 approximates the flow rate from the engine speed signal 76 of the engine speed sensor 77 to the tilt cylinder 15 as a function of flow rate (calculated by engine speed) and cylinder time. Calculate the amount of fluid flowing in. The hydraulic flow for a given engine speed is
It is important that the electronic control 68 operate only the tilt cylinder 15 as it is known only if there are no other commands in the hydraulic system. When the engine speed is replaced by the flow of Expression 1, Expression 2 is obtained.

Equation 2 Tilt-Cylinder-Position = Initial-Position + K∫ 0 Engine Speed dt where K1 = empirically determined constant t = time of hydraulic cylinder. As shown in equations 1 and 2, tilt-cylinder-position is an integral function. With any integral function, integration error occurs over time. Therefore, it is necessary to periodically zero the tilt cylinder 15 by pushing it to a known position and recording this known position in memory, as described above. Referring again to FIG. 2, the driver selects the automatic tilt mode by lowering the automatic tilt mode switch 80, and sends an automatic tilt signal 81 to the electronic control unit 68. Thereafter, the electronic control unit 68 issues a command to move the tilt cylinder 15 to the predetermined blade angle 30 corresponding to the position given by the thumb switch 65. Referring to FIGS. 3 and 4, there is shown a flow chart representing the operation of the automatic tilt system of the present invention.
This flow chart represents the complete and complete set of commands required to exercise control in software within the electronic control 68 of the present invention. This software can be written from this flow chart to a suitable microprocessor using the command set. Implementing this software control is a mechanical step for those skilled in the art.

Referring first to FIG. 3, the program control of the present invention begins when the driver engages the automatic tilt switch 80. Then, at block 100, the automatic tilt system first determines whether the tilt cylinder 15 has gone to zero by checking the tip-zero flag. If the tip-zero flag is not set, the system proceeds to block 105 and block 110 to zero the tilt cylinder 15. At block 105, the electronic control 68 sends a command to the stoichiometric pilot valve 70.
The hydraulic fluid flows up to the tilt cylinder 15 by the actuator valve 75, and the tilt cylinder 15 is retracted. The electronic control 68 is
A command is issued to completely retract the tilt cylinder 70. Then, at block 110, the electronic control 68 sets the tip-zeroed flag to indicate that the tilt cylinder has reached zero. Program control then returns to block 100. When the tilt cylinder 15 is zeroed and the tip-zero flag is set, the electronic control 68, within block 115, causes the driver to monitor the signals 71 and 72 from the three-position switch 65 to determine the mode. Determine whether you have switched. When the driver switches modes, program control passes through block 120 and the target-tip-position is set to mode invariant-target-tip.

The target-tip-position variable represents the commanded tip position. Therefore, the electronic control 68
A command is issued to the stoichiometric pilot valve 70 to move the tilt cylinder to a position corresponding to the target-tip-position. Invariant-target-tip is the value recorded in memory 69 corresponding to the blade tip position (which is a function of blade angle) when the driver stops the particular mode. Thus, there is one invariant target tip position for each mode. The label invariant-tip-positions generically represent the three variables stored in the memory 69 of the array. These three variables are invariant-target-
Tip position [load], unchanged-target-tip [conveyance] and unchanged-target-tip [spread]. By setting the target-tip-position equal to the constant-target-tip position in block 130, the blade angle returns to the same blade angle that existed before stopping the mode. For example, if the blade angle is 10 ° when the load is changed to the transport, the blade angle returns to 10 ° when the driver returns to the load mode. At block 120, if the current tip position value is less than zero due to an error or for some reason,
The electronic control unit 68 sets the current tip-position to zero. The position of the tip is a variable that stores the detected position of the tilt cylinder 15. Also, the tip-hold flag is cleared and the system determines whether the bulldozer retracts (defined as placing the automatic tilt system in neutral). In this case, the target tip position is set to -40 mm (impossible negative value) and the tilt cylinder is brought to zero by pressing against a mechanical stop, as described above. In this method, the tilt cylinder 15 becomes zero each time the bulldozer retracts.

Returning to block 115, if the driver has not changed modes, control proceeds to block 125. At block 125, the electronic control 68 determines whether the driver manually adjusted the tip-position during the current mode. If the driver has made a manual adjustment, control proceeds to block 130 where the mode remains unchanged.
Position-Set tip to current tip-position and target-
The tip-position is also set to the current tip-position. In this way, the invariant-target-position of this mode is set to the final tip-position of the blade in this mode so that when the driver reenters the mode, the blade will return to that position. Control continues to block 135. When the current tip-position value becomes -40 mm or less, the electronic control unit 68 resets the tip-position to zero and sets the target-tip, position again to the mode invariant-target-tip-position ( Reset to block 140). Referring to FIG. 4, the blade angle is calculated in block 145 in Equation 2 above. Block 150
At, if the driver is currently manually adjusting the blade angle 30, program control proceeds along the left side of block 155. At block 155, the electronic control unit 68 sets the tip-hold flag. While the tip-hold flag is set, the electronic control unit 68 does not issue an automatic command to the stoichiometric pilot valve 70 to move the blade to the target position. The control proceeds to block 160 and electronic control 68 issues a tilt cylinder command corresponding to the blade not moving. Finally, control passes through block 165 to start the routine (block 10
Return to 0).

Referring again to block 150 of FIG.
If the driver does not make blade angle adjustments, then at block 170 the system determines if the blade tip-position is within any of the target-tip-position tolerances. In the preferred embodiment, this tolerance is 2
In millimeters. However, in other applications, other tolerances can be easily replaced. The valve output is zero (block 160) if the blade tip-position is within 2 millimeters of the target-tip-position. However, the tip of the blade-
If the position is not within the 2 millimeter tolerance, control proceeds to block 175. The automatic tilt system calculates the output of the tilt actuator 75 required to move the blade tip-position from the target-tip-position within a tolerance of 2 millimeters. At block 180, the electronic controller 68 issues a command to the stoichiometric pilot valve to open the tilt actuator valve 75 at an appropriate interval to move the tilt cylinder to the target-tip-position. At block 165, control returns to block 100.

[Brief description of drawings]

FIG. 1 is a side view of a bulldozer incorporating the automatic tilt control of the present invention.

FIG. 2 shows a block diagram of the automatic tilt control of the present invention.

FIG. 3 is a control flow chart for implementing software in a preferred embodiment of the present invention.

FIG. 4 is a control flow chart for implementing software in the preferred embodiment of the present invention.

[Code]

10 lift cylinders 15 tilt cylinder 20 blades 25 Bulldozer 30 blade angle 55 Supply Department 56, 57 conduits 60 handles 63 Forward signal 64 backward signal 65 3-position switch 68 Electronic control unit 69 memory 70 Pilot valve 71, 72 joint 75 Tilt Actuator Valve 76 Engine speed signal 77 Engine speed sensor 80 Automatic tilt mode

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kevin Jay Ryucho United States Illinois 61528 Edwards Rosewood Court 7827 (72) Inventor James Sea Barton United States Illinois 61604 Peoria West Lonedale 417 (72) Inventor Thomas Gay Haze United States Illinois 61441 Iva Vape Obox 122 (56) References Japanese Patent Publication Sho 60-15786 (JP, B2) (58) Fields investigated (Int.Cl. 7 , DB name) E02F 3/85

Claims (20)

(57) [Claims]
1. A tilt actuator, position detecting means for detecting the position of the tilt actuator, and outputting a position signal corresponding to the detected position; and for receiving the position signal, calculating a tilt angle position of a tool. Then, a processor means for calculating a command signal corresponding to the difference between the tool tilt angle and a desired tool angular position and outputting the command signal to the tilt actuator, and a plurality of preset tool tilt angle positions. Choose one
Select this preset preset tool tilt angle
An automatic tilt system for an off-highway vehicle having a tilt function corresponding to a tool , comprising: a selection unit that outputs a selection signal corresponding to a degree position .
2. The automatic tilt system according to claim 1 , wherein the tilt actuator includes a hydraulic cylinder.
3. The automatic tilt system according to claim 1 , wherein the position detecting means includes an engine speed sensor.
4. The automatic tilt system according to claim 1 , wherein the position detecting means includes an RF sensor.
5. The automatic tilt system according to claim 1 , wherein the position detecting means includes an LVDT sensor.
6. The automatic tilt system according to claim 1 , wherein the selection means includes a three-position selection switch.
7. The automatic tilt system of claim 1 , wherein the processor means includes memory means for storing a preset tool tilt angular position.
8. The automatic tilt system of claim 7 , including manual adjustment means for manually adjusting a preset tool tilt angle position.
9. The automatic tilt system according to claim 8 , wherein the manually adjusted tool tilt angle position is stored as the preset tool tilt angle position.
10. The automatic tilt system of claim 7 , wherein the preset tool tilt angular position corresponds to an optimal tilt angular position for an operating mode of an off-highway vehicle.
11. A tool, a tilt means for changing a tilt angle of the tool, a position sensor corresponding to the tilt means and having a position signal output responsive to the tool tilt angle, and a plurality of preset tools. Selecting one of the tilt angles, selecting means for outputting a selection signal based on the selection, receiving the position signal output and the selection signal, the tool tilt angle position determined by the position sensor, Electronic control means adapted to emit a command signal responsive to a difference from the selected preset tool tilt angle; and an actuator coupled to the tilt means and adapted to receive the command signal. An automatic tilting system for off-highway vehicles, equipped with a valve.
12. The automatic tilt system according to claim 11 , wherein the selection means includes a thumb switch.
13. The automatic tilt system of claim 11 , including adjustment means for adjusting the preselected tool tilt angular position.
14. The position sensor includes an engine sensor, and the electronic control means is adapted to receive a signal from the engine sensor to form a tool tilt angle. An automatic tilt system according to item 13 .
15. A tool, a tool adjusting handle, a first position sensor corresponding to the tool adjusting handle, a switch corresponding to the tool adjusting handle, a tilt actuator coupled to the tool, and a tilt actuator. A corresponding second position sensor, the first position sensor, the switch, an electronic control unit that is coupled to the second position sensor, and responsively issues a command signal, a pressure fluid supply unit, the electronic receiving the command signal from the control unit, and a tilt actuator valve adapted to control the flow of the compressed fluid to the tilt actuator from the supply unit in response manner to the received, preset tool tilt angle Remember the value corresponding to
That includes a memory means, wherein the switch has a plurality of switch positions, each
The switch position is set to the preset tool tilt angle.
An automatic tilt system for off-highway vehicles that is compatible .
16. The automatic tilt system of claim 15 , wherein the recorded value corresponds to the output of the second position sensor immediately before changing the switch position of the switch.
17. The second position sensor includes an engine speed sensor, and the electronic control unit receives a signal from the engine speed sensor, and the electronic control unit receives the signal from the engine speed signal and an ON time of the tilt actuator. 16. Automatic tilt system according to claim 15 , characterized in that it is adapted to calculate the position of the actuator.
18. A tilt valve that selects a preset tool angle, detects the position of a tilt actuator, issues a command signal corresponding to the selected preset tool angle, and responds to the command signal. Selectively operating the tilt actuator and moving the tilt actuator by an amount corresponding to the command signal, detecting the position of the selection switch, the tilt actuator, and the tilt actuator, and responding to the detected position. And a position detecting means for outputting a position signal for controlling the tilt angle of the tool on an off-highway vehicle.
19. Adjusting the selected preset tool angle, storing the adjusted tool angle in a memory, and issuing a command signal corresponding to the adjusted angle. 19. The method of claim 18 characterized.
20. The step of detecting the position of the tilt actuator comprises the steps of detecting an engine speed sensor, determining a length of time that the cylinder has been actuated, and responsively generating a position signal. 19. The method of claim 18 , comprising:
JP21966094A 1993-09-22 1994-09-14 Automatic tip angle control device Expired - Fee Related JP3522348B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US08/125439 1993-09-22
US08/125,439 US5462125A (en) 1993-09-22 1993-09-22 Automatic tip angle control

Publications (2)

Publication Number Publication Date
JPH07166575A JPH07166575A (en) 1995-06-27
JP3522348B2 true JP3522348B2 (en) 2004-04-26

Family

ID=22419729

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21966094A Expired - Fee Related JP3522348B2 (en) 1993-09-22 1994-09-14 Automatic tip angle control device

Country Status (4)

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US (1) US5462125A (en)
JP (1) JP3522348B2 (en)
AU (1) AU669818B2 (en)
ZA (1) ZA9406209B (en)

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Also Published As

Publication number Publication date
AU7300894A (en) 1995-04-06
ZA9406209B (en) 1995-06-20
US5462125A (en) 1995-10-31
JPH07166575A (en) 1995-06-27
AU669818B2 (en) 1996-06-20

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